Sod the "rules". It's about treating people as you'd expect to be treated. Get out there and ride where you like, when you like, with who you like. Treat everyone you meet along the way well and help fellow outdoor users get used to the fact that its really not a problem.
Most of 'em under retirement age never seem to think there is any issue with us being there anyway. They expect and accept it.

Don't hide away under cover of darkness, start working on their expectations and normalising our presence.

Best words ever written on the internet about footpath riding? I think so, a huge +1